![]() ![]() ![]() The webots_controllers_to_load parameter contains the controller names from the yaml file. This contains the name of the ROS topic for joint commands, the servo names from the Webots model, and the P constant for the position controller.Ĭreate a launch file in the /launch directory, using this package as an example. yaml file in the /config directory, using this package as an example. Edit your Webots world file and specify the name of the controller binary fileĬreate a new.Note how the destination of the compiled binary is in the controllers/binary_name directory to suit Webots requirements, not the default ROS directory /bin It offers a safe place to test behaviors before playing them on a real robot. wbt world file to your package, in the /world directoryĬopy the webots_controllers source to the /src directoryĮdit CMakeLists.txt, using this package as an example. Webots for NAO allows you to launch a simulated NAO moving in a virtual world. See Creating a ROS PackageĪdd the Webots. Assign each joint servo with a unique name.Ĭeate a new ROS package e.g. Create a new Webots world and robot arm model.This command publishes one message to the ROS topic and the " -" indiciates that the next input is a number. The joint will rotate 1.5 radians in the positive direction. To move that joint, run the command: $ rostopic pub -1 /Puma560/SimController/waist/command std_msgs/Float64 - 1.5 To move one of the joints, you need to publish the desired position to theįor example, the base rotation joint is called 'waist'. List the available joint controllers by opening a new shell console and running: $ rostopic list If everything is working correctly, the following messages will be printed in the Webots console: The Webots simulator should load with the Puma 560 in the home position. Run the demo: $ roslaunch webots_controllers joint_position_controller_demo.launch Position commands are received on a ROS topic for each joint.Ĭurrent position and calculated velocity values are published on the /joint_states topic.įorce information is not checked due to a bug with Webots 6.4.4įollow these instructions to install the kaist_webots stack.Ī demo of the joint position controller is included, using ROS messages to control a simulated Puma 560 manipulator in Webots. The webots_controllers_to_load parameter in the launch file specifies which controllers from the yaml file should be loaded. Webots environment variables needed by extern controllers: tab-component 'os'. Please refer to the documentation of your operating system to set environment variables. The controller configuration is defined in a yaml file, which includes the ROS topic for subscribing to commands for each joint, the joint's servo name in Webots, and the value of the P constant. In order to be able to run an extern Webots controller, a number of environment variables should be set or extended. A joint position controller for Webots, utilising the C++ API and simple P-control. ![]()
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